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machineGroupControl/src/editor/index.js

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feat(mgc): rendezvous planner — same-time landing across all modes Routes every dispatch through a tick-aware planner so all pumps reach their setpoint at the same wall-clock instant t* = max(eta_i), regardless of control strategy or per-pump reaction speed. Architecture (src/movement/): - machineProfile.js – pure snapshot of a registered child (state, position, velocityPctPerS, ladder timings, flowAt / positionForFlow). Reads timings from child.state.config.time (the actual storage location — previous fallback paths silently produced 0 s, collapsing every eta to ramp-only). - moveTrajectory.js – seconds-to-target per machine; handles idle / starting / warmingup / operational / cooling. - movementScheduler.js – t* = max eta over ALL non-noop moves. Every command is delayed so its move finishes at t*. Startup execsequence fires at 0; its flowmovement is gated by max(ladderS, t* − rampS) so a fast pump waits before ramping rather than landing early. useRendezvous=false collapses to all fireAtTickN=0 (legacy fire-and-forget). - movementExecutor.js – wall-clock virtual cursor: each tick fires every command whose fireAtTickN ≤ floor(elapsed/tickS). tick() no longer awaits pending fireCommand promises — the synchronous prologue of handleInput claims the latest-wins gate, which is what race-favouring relies on. Shared dispatch path (src/specificClass.js): - _dispatchFlowDistribution(distribution) — extracted from _optimalControl. Builds profiles, calls movementScheduler.plan, replans the executor, ticks once. Reads config.planner.useRendezvous (default true). - _optimalControl computes its bestCombination and hands off. - equalFlowControl (priorityControl mode) computes its flowDistribution and hands off via ctx.mgc._dispatchFlowDistribution. Same-time landing now applies in BOTH modes. Editor toggle (mgc.html + src/nodeClass.js): - New "Same-time landing" checkbox under Control Strategy. - nodeClass.buildDomainConfig bridges uiConfig.useRendezvous → config.planner.useRendezvous. Default ON. Tests: - New: planner-convergence.integration.test.js (real-time end-to-end diagnostic — drives a 3-pump mixed-state dispatch and asserts both convergence to the demand setpoint AND same-time landing within one tick). - New: planner-rendezvous.integration.test.js (schedule-shape assertions against real pump objects). - New: movementScheduler.basic.test.js — includes a mixed-speed multi-startup case proving the fast pumps wait so all three land together (the regression that prompted this work). - New: movementExecutor.basic.test.js + moveTrajectory.basic.test.js. - Updated executor contract test: tick() must NOT await pending fires. Commands + wiki: - handlers.js: source/mode allow-list gate moved into a shared _gate() helper; every command now checks isValidActionForMode + isValidSourceForMode before dispatching. Status-level commands (set.mode, set.scaling) are allowed in every mode. - commands.basic.test.js: coverage for the new gate behaviour. - wiki regen: Home.md visual-first rewrite + Reference-{Architecture, Contracts,Examples,Limitations}.md split with _Sidebar.md index. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
2026-05-17 19:43:55 +02:00
// machineGroupControl editor — namespace bootstrap.
//
// Attaches the editor's submodule registry to the shared
// window.EVOLV.nodes.machineGroupControl namespace (same one the menuManager
// and configManager endpoints populate). Each sibling module in this
// directory (mode-cards.js, demand-contract.js, oneditprepare.js) registers
// itself by writing additional members onto this namespace.
//
// Loaded first by mgc.html — must not depend on any other src/editor module.
(function () {
const root = window.EVOLV = window.EVOLV || {};
const nodes = root.nodes = root.nodes || {};
const ns = nodes.machineGroupControl = nodes.machineGroupControl || {};
const editor = ns.editor = ns.editor || {};
// Pub/sub for mode changes — mode-cards.js fires, anything that wants to
// re-render on mode change subscribes. Keep it tiny; no third-party emitter.
const modeListeners = [];
editor.onModeChange = (cb) => { if (typeof cb === 'function') modeListeners.push(cb); };
editor.emitModeChange = (newMode) => {
for (const cb of modeListeners) {
try { cb(newMode); } catch (e) { /* swallow — UI helper */ }
}
};
// Read the currently selected mode from the hidden input that mode-cards.js
// keeps in sync with the active card. Falls back to optimalControl if the
// input isn't on the page yet (race against oneditprepare).
editor.getMode = () => {
const el = document.getElementById('node-input-mode');
return (el && el.value) || 'optimalControl';
};
})();